System with two soil cultivation implements and methods for it

Abstract

System comprising a first soil cultivation implement (1), a second soil cultivation implement (2), an accumulator (3) for the second soil cultivation implement (2), a charging device (4) for charging the accumulator (3), and a control and evaluation unit (5) which is configured to control the first soil cultivation implement (1) to perform a defined soil cultivation activity, to determine a first area (7) of a total area (6) to be cultivated, and to determine a second area (8) to be cultivated from the total area (6) and the first area (7) already cultivated, characterized in that the control and evaluation unit (5) is further configured to cause the transmission of information about the second area (8) to be cultivated in the event of premature termination of the soil cultivation activity of the first soil cultivation implement (1).wherein a data processing unit (9) of the system is set up to receive the information and to determine the amount of energy required to complete the soil cultivation activity using the second soil cultivation implement (2), to compare the required amount of energy with an amount of energy stored in the accumulator (3) of the second soil cultivation implement (2) and, in the case that the stored amount of energy is less than the required amount of energy, to initiate the charging of the accumulator (3) by means of the charging device (4) by at least the difference in energy.

Description

field of technology

[0001] The invention relates to a system comprising a first soil cultivation implement, a second soil cultivation implement, an accumulator for the second soil cultivation implement, a charging device for charging the accumulator, and a control and evaluation device which is configured to control the first soil cultivation implement to perform a defined soil cultivation activity, to determine a first area fraction of a total area to be cultivated that has already been cultivated, and to determine a second area fraction still to be cultivated from the total area and the first area fraction already cultivated.

[0002] Furthermore, the invention relates to a method for operating a aforementioned system, wherein a control and evaluation device controls a first soil cultivation device to perform a defined soil cultivation activity, determines a first area fraction of a total area to be cultivated by the first soil cultivation device during the soil cultivation activity, and determines a second area fraction to be cultivated from the total area and the already cultivated first area fraction. State of the art

[0003] Soil cultivation equipment is well known in the prior art. This can include, for example, self-propelled soil cultivation equipment, in particular soil cultivation robots such as cleaning robots, or hand-held soil cultivation equipment that is guided by a user across an area to be cultivated. A soil cultivation device typically has one or more soil cultivation elements, for example, cleaning elements such as brushes or wipers, polishing elements, grinding elements, mowing tools, or the like. It is known, in particular, to equip self-propelled soil cultivation equipment with a control and evaluation unit designed to navigate and locate the soil cultivation device within its environment. For this purpose, the soil cultivation device accesses an environmental map, which may, for example, be created by the soil cultivation device itself.For this purpose, the tillage implement can utilize a so-called SLAM method. During tillage operations, the implement can determine its own position within the surrounding area map and track its movement path. It is also known that the surrounding area map indicates which portions of the total area have already been tilled and which still need to be tilled.

[0004] Furthermore, it is known, particularly in the field of soil cultivation robots, that the control and evaluation unit regulates the soil cultivation activity of the soil cultivation device according to a pre-planned soil cultivation program. This program may, for example, contain program steps scheduled according to days and / or times, which the soil cultivation device then executes. To provide energy for the soil cultivation device's consumers, such as motors for a wheel drive and / or soil cultivation elements, the soil cultivation device typically has a battery that can be recharged by means of a charging device within the system. For this purpose, the soil cultivation device can move to a charging device, for example, a charging device integrated into a service station for the soil cultivation device.Alternatively, a user can also manually connect the soil cultivation device and / or its battery to the charging device.

[0005] The system can include different types of soil cultivation equipment. For example, a first soil cultivation device can be a self-propelled soil cultivation device, while a second soil cultivation device is a user-operated soil cultivation device, such as a battery-powered handheld vacuum. Summary of the invention

[0006] Based on the aforementioned prior art, the object of the invention is to further develop such a system in such a way that soil cultivation activity can be carried out successfully and completely, even if the available energy of a first soil cultivation device is insufficient to completely cultivate a total area to be cultivated.

[0007] To solve this problem, it is proposed that the control and evaluation unit be further configured to, in the event of premature termination of the tillage activity of the first tillage implement, to initiate the transmission of information about the second area still to be tilled, wherein a data processing unit of the system is provided to receive the information and to determine the amount of energy required to complete the tillage activity using the second tillage implement, to compare the required amount of energy with the amount of energy stored in the battery of the second tillage implement, and, in the case that the stored amount of energy is less than the required amount of energy, to initiate the charging of the battery by means of the charging device by at least the difference in energy.

[0008] According to the invention, a system is proposed comprising, among other things, at least two soil cultivation devices and at least one charging device for charging a battery, wherein these are designed to interact in such a way that a first soil cultivation device performing a soil cultivation activity reports the areas of a total area to be cultivated that it can no longer cultivate, for example due to insufficient charging capacity of a battery, and optionally additional parameters of the soil cultivation activity performed, such as vacuum cleaning with a specific suction power, mopping with a specific cleaning additive, or similar.The soil cultivation activity can then be continued by a second soil cultivation implement of the system, whose battery is at least partially charged or can be recharged to such an extent that the soil cultivation activity of the first soil cultivation implement can be completed. For this purpose, the system's data processing unit is designed to receive the message from the first soil cultivation implement and to evaluate the information it contains. This information preferably includes the size and location of the second area, as well as, optionally, information about the soil type in the area of ​​the second area, and preferably about soil cultivation parameters to be set on the second soil cultivation implement, for example, an advantageous suction power, advantageous soil cultivation elements, and the like.Furthermore, the information can also include details about the expected amount or degree of soiling of the second area, as well as expected environmental parameters such as temperature, humidity, and similar factors. The message from the first tillage implement can also contain an excerpt from an environmental map showing at least the outline of the second area. Based on this information, the system's data processing unit is able to calculate, i.e., estimate in advance, the amount of energy required by the second tillage implement to continue the tillage activity of the first implement with specific tillage parameters.Continuing the tillage operation can involve the second tillage implement performing a tillage operation as similar as possible to that of the first implement, for example, by setting the same tillage parameters, such as the same suction power, the same travel speed across the area to be tilled, and so on. Alternatively, however, it is also possible for the second tillage implement to cultivate the second portion of the area using the same tillage parameters as the first implement, because the second implement, for example, has tillage features that the first implement lacks.For example, the second tillage implement might cultivate the remaining area with higher suction power, a different tillage element, a higher travel speed, or similar characteristics. When calculating the remaining energy requirement, the data processing unit considers the relevant parameters of the second tillage implement intended to continue the tillage operation. The data processing unit then determines whether the energy stored in the battery of the second tillage implement is sufficient to successfully complete the tillage operation.Should this not be the case, the data processing unit controls the charging of the battery to at least the difference in energy, ensuring that the total available energy in the battery after charging is sufficient to complete the tillage operation fully and successfully. To obtain information about the stored energy in the battery of the second tillage implement, the data processing unit can, for example, wirelessly transmit a corresponding request to the second tillage implement or its battery. For this purpose, both the data processing unit and the second tillage implement or its battery are equipped with a communication module for wireless communication, such as a WLAN module, an NFC module, or similar technology.Furthermore, the data processing device can also be physically connected to the accumulator in order to read the amount of stored energy.

[0009] The invention allows, for example, the battery of the first tillage implement to be conserved by not charging it to its maximum possible charge level, but only with a gentle partial charge. The successful and complete completion of the tillage operation by the first tillage implement is then ensured by using a second tillage implement of the system to continue the tillage operation, the battery of which can provide a sufficient amount of energy to complete the remaining tillage task.

[0010] It is proposed that the system's data processing unit be part of the first tillage implement and / or the second tillage implement and / or the charging unit and / or a separately designed server unit. The data processing unit can thus be assigned to different components of the system. For example, the data processing unit can be a component of one of the tillage implements, the charging unit, and / or a server of the system, which can preferably be accessed by the tillage implements and / or accumulators and / or charging units of the system.This allows data processing, preferably including receiving information from the first tillage implement, determining the energy required for the second tillage implement to complete its operation, determining the energy stored in the second tillage implement's battery, comparing the required energy with the stored energy, and controlling the battery charging, to be performed centrally within a single system unit. Preferably, the data processing unit includes an environmental map containing at least a plan view of the entire area to be tilled, and preferably also information about the positions of spatial boundaries and obstacles.The environmental map contains, and / or the data processing unit further provides, information on which proportions of the total area have already been processed by the first tillage implement and which proportions still need to be processed. The data processing unit can also be integrated into a charging unit of the system. Preferably, the charging unit is part of a service unit of the system, for example, a base station for one or more of the system's tillage implements, where, for instance, a tillage implement's battery can be charged or other services for a tillage implement and / or battery are provided.Service activities can include, in addition to charging the battery, tasks such as transferring collected material from a cleaning unit's collection chamber, cleaning a soil cultivation element, transferring cleaning fluid to a soil cultivation unit, or similar operations. Finally, the data processing unit can also be part of a separate server within the system; that is, the data processing unit is neither part of a soil cultivation unit nor part of a charging unit, but rather is located within a server unit designed separately from the latter. This separate server unit could be, for example, a computer, laptop, mobile device, or similar. The server unit preferably includes a data storage device that the data processing unit can access.The data storage can contain, for example, an environment map of the system, information about the tillage equipment, batteries and charging devices networked in the system, information about tillage parameters and device parameters of the tillage equipment, information about a maximum charging capacity of the batteries, information about a charging current and charging speed of the charging devices and / or tillage programs which have pre-planned program steps for execution by one or more tillage devices of the system.

[0011] It is proposed that the system includes a wireless communication network that wirelessly connects the first tillage implement, the second tillage implement, the charging unit, and / or the separate server unit. The system preferably includes a home communication network in which the system's devices and units can communicate wirelessly. This home communication network can be, for example, a radio network, particularly a WLAN network. The network participants have communication modules, such as WLAN modules, which serve to communicate with an access point of the communication system. The access point can be provided, for example, by a communication module of a tillage implement, a charging unit, and / or a separate server unit.Preferably, a server setup within the system simultaneously includes data storage, an access point, and a data processing unit. The server setup does not necessarily have to be located locally within the system, i.e., within a household, but can also be an external server, such as a cloud server, to which the home communication network is connected via a router.

[0012] Furthermore, it is proposed that the first tillage implement and / or a separately designed server unit of the system possess an environmental map in which the first, already tilled area and the second, yet-to-be-tilled area are stored. Preferably, the first tillage implement has a navigation system configured to generate the environmental map itself. For this purpose, the tillage implement can move within the environment and measure distances to obstacles and objects in the environment using, for example, an optical distance measuring device. The distance information is then processed into an environmental map, which includes a plan view that shows, for example, spatial boundaries and objects or obstacles present in the environment.The area map preferably includes the total area to be worked by the first tillage implement. During tillage, the first tillage implement travels at least within the first portion of the area, with its movement route being recorded and, for example, displayed on the area map. This way, the portions of the area already worked by the tillage implement are marked within the area map, namely the total area to be worked, and information is simultaneously stored about which portion of the total area still needs to be worked. This remaining portion constitutes the second portion of the total area.The first tillage implement can further be configured to transmit the environmental map it creates and updates to the system's data processing unit, or to allow the data processing unit access to the environmental map, so that the data processing unit receives information about the second area still to be tilled. If the first tillage implement prematurely terminates its tillage activity, the data processing unit is aware of the second area still to be tilled and can, for example, access the environmental map to obtain further information about this second area, such as its size, shape, and position.For example, the first tillage implement can transmit a link to the environment map stored in the first tillage implement to the data processing unit, so that the latter can access the information stored therein.

[0013] Furthermore, the first tillage implement may be equipped with a detection device for determining the degree of contamination of the first and / or second area portions, and / or for detecting the amount of dirt picked up by the first tillage implement during the tillage of the first area portion. The first area portion, cleaned by the first tillage implement and adjacent to the uncleaned second area portions of the total area, is analyzed by the first tillage implement using the detection device, for example, a camera, a dust sensor, or similar, to determine the amount of dirt picked up or the degree of contamination. This analysis can be quantitative, determining the quantity of contamination, or identifying the type of contamination, such as a specific dust type like coarse or fine particles.

[0014] Furthermore, the first tillage implement can have a detection device for identifying the soil type of the first and / or second area. This allows the soil type of the second area to be determined either directly or indirectly, by the detection device identifying the soil type of the first area and then assuming that the soil type of the second area is the same as that of the first. The amount of energy required for tillage depends significantly on the soil type, i.e., the specific soil surface of the tilled area. The soil type also allows for the selection of which of several second tillage implements available in the system is best suited to continue the tillage performed by the first implement.A basic distinction is made between hard floors and carpeted floors, and a typical energy consumption per unit area for a specific floor type may be stored in the system's data storage. The reference values ​​stored therein may, for example, have been determined through laboratory tests.

[0015] In particular, it is proposed that the data processing unit be configured to determine the energy requirement of the second tillage implement to complete the tillage operation, based on the size of the first area and / or the detected degree of contamination and / or the detected amount of dirt picked up in the first area, and optionally also a detected soil type in the first area and / or the second area. It can be assumed that the contamination in the second, as yet unworked, area is approximately the same as in the areas cleaned by the first tillage implement. Based on the recorded dirt information, the contamination level in the second area, which still needs to be worked, is then inferred. The system's data processing unit can, for example, convert a picked-up dust quantity into an average dust density (i.e.,The dust mass per unit area is calculated. This dust density is multiplied by the size of the second unit area to determine the expected dust quantity on that second unit area. The data processing unit can then determine which tillage implement in the system is suitable for removing this dust density, quantity, and type, given the available parameters of that implement. A file associated with the data processing unit can contain reference information on the energy and operating time required by the second tillage implement to process the second unit area using these parameters and implement settings.

[0016] Furthermore, it is proposed that the second tillage implement include a detection device for detecting the degree of contamination of the second area to be tilled and / or the amount of dirt picked up during the tillage of the second area. The data processing unit is configured to determine a quantitative ratio between the degree of contamination and / or the amount of dirt picked up in the first area and the degree of contamination and / or the amount of dirt picked up in the second area, and to take this ratio into account in future calculations of the energy requirements of the second tillage implement. This configuration enables the system's data processing unit to determine a quantitative relationship between the contamination in the first area and the contamination in the second area.To determine the relationship, the contamination densities in the two areas are preferably compared. The amount of dirt or the contamination density can be detected at defined measuring points in the areas. Through repeated measurements over time, the functional relationship can be refined, so that the prediction of contamination in the second area becomes increasingly accurate with each tillage operation. This allows for the development of a self-learning system in which the approximation is continuously and automatically adjusted.To determine the expected pollution within the second area component, for example, only a relatively small sub-area of ​​the first area component can be used, such as one that borders the second area component, so that it is even more likely that the pollution in the second area component corresponds to the pollution in the boundary area of ​​the first area component.

[0017] Furthermore, it is proposed that the second tillage implement and / or the charging device include a measuring device for determining the amount of energy drawn from the second tillage implement's battery for cultivating the second portion of the area. The data processing device is configured to take this energy draw into account in future calculations of the second tillage implement's energy requirements. According to this configuration, after the second tillage implement has completed its work, the data processing device determines the amount of energy it required to cultivate the second portion of the area. For example, the amount of energy drawn from the battery can be determined at a charging device or at the second tillage implement itself.This is done, for example, using the formula "initial energy consumption minus residual energy consumption" after the soil cultivation activity is completed. This difference in energy consumption can then be linked within a data storage system with information about the other area, such as the amount of contamination absorbed there. For subsequent soil cultivation activities, the stored data can be accessed, allowing for a more accurate estimate of the expected energy consumption with each operation.

[0018] In addition to the system described above, the invention further proposes a method for operating such a system, wherein a control and evaluation unit controls a first soil cultivation implement to perform a defined soil cultivation activity, determines a first area portion of a total area to be cultivated by the first soil cultivation implement during the soil cultivation activity, and determines a second area portion still to be cultivated from the total area and the already cultivated first area portion, wherein the control and evaluation unit causes information about the second area portion still to be cultivated to be sent out in the event of premature termination of the soil cultivation activity of the first soil cultivation implement.wherein a data processing unit of the system receives the information and determines the amount of energy required to complete the soil cultivation activity using the second soil cultivation implement, compares the required amount of energy with the amount of energy stored in the battery of the second soil cultivation implement, and, if the stored amount of energy is less than the required amount of energy, initiates the charging of the battery by means of a charging device by at least the difference in energy. The features and advantages of the system described above also apply accordingly to the method according to the invention. To avoid repetition, reference is therefore made to the preceding description. Brief description of the drawings

[0019] The invention will now be explained in more detail using exemplary embodiments. The figures shown are: Fig. 1 a system according to the invention, Fig. 2 a first soil cultivation device with an environment map, Fig. 3. A map of the surrounding area with a first area component and several second area components. Fig. 4 a surrounding map with a first area component, several second area components and the boundary areas surrounding the second area components. Description of the embodiments

[0020] Fig. Figure 1 shows an exemplary system according to the invention, comprising a first soil cultivation device 1, a second soil cultivation device 2, a charging device 4, and a server device 10. The soil cultivation devices 1 and 2, the charging device 4, and the server device 10 are wirelessly connected to each other via a communication network 11, for example, a WLAN, wherein the server device 10 provides an access point (not shown) through which the soil cultivation devices 1 and 2 and the charging device 4 can communicate with each other and with the server device 10. The soil cultivation devices 1 and 2 are shown here only as examples of self-propelled soil cultivation devices, such as cleaning robots. However, the soil cultivation devices 1 and 2 can also be designed as manually operated soil cultivation devices 1 and 2.In particular, the following description also applies if one of the soil cultivation implements 1, 2 is a hand-operated soil cultivation implement.

[0021] The soil cultivation implements 1, 2 have rechargeable batteries 3, which can be recharged, for example, by the charging unit 4. For this purpose, the soil cultivation implement 1, 2 docks onto the charging unit 4. This is in Fig. Figure 1 shows an example of the second tillage implement 2. The tillage implements 1 and 2 each have a control and evaluation unit 5, which is configured to control the respective tillage implement 1 and 2 within a given environment and accesses data from a navigation device (not shown in detail here), which, for example, has a distance measuring device, in particular a 360° laser scanner, by means of which distances to obstacles in the environment can be measured. Based on these distances, the tillage implement 1 and 2 can then, for example, generate an environment map 12 (see Figure 1). Fig. 2) create a map containing a floor plan of the environment as well as objects and obstacles within it. The control and evaluation unit 5 can access this environmental map 12 for navigation and self-localization.

[0022] The floor plan shown in the area map 12 is merely an example of an apartment with a total area 6, which can be cleaned by the two floor cleaning devices 1, 2. For this purpose, a floor cleaning program containing program steps for one or both floor cleaning devices 1, 2 can be stored in a data storage unit of the central server unit 10. A data processing unit 9 of the server unit 10 can access the stored floor cleaning program and transmit control commands to the floor cleaning devices 1, 2 and / or the loading unit 4.

[0023] The soil cultivation implements 1 and 2 can have different types of sensors. Here, the first soil cultivation implement 1 ( Fig. 2) for example, via a detection device 13 designed as a camera, which is suitable for taking pictures of a surface to be processed. The second soil cultivation device 2 has a measuring device 14 (see Fig. 1), which is designed as a current measuring device and can measure a current taken from the accumulator 3 of the second soil cultivation device 2.

[0024] The Fig. 3 and Fig. Figure 4 shows different embodiments of an environment map 12. The environment map 12 can be stored both in the tillage implements 1, 2, and in the central server 10, so that these can access the information contained therein. The environment maps 12 outline the total area 6 of an environment to be cultivated. Areas already cultivated by the first tillage implement 1 form a first area 7, and areas not yet cultivated by the first tillage implement 1 form a second area 8. In the environment map 12 according to Fig. Figure 4 also shows boundary areas 15, which represent a band-shaped transition area between the first area portion 7 and the second area portions 8. The boundary area 15 surrounds the associated second area portion 8, whereby the boundary area 15 can, for example, have a width of at least 150 mm up to, for example, a maximum of 500 mm.

[0025] The invention functions, for example, as follows: initially, only the first soil cultivation device 1 performs soil cultivation on the entire area 6 of the apartment. For this purpose, the first soil cultivation device 1 is controlled, for example, by the data processing unit 9 of the server unit 10 via the communication network 11 in order to execute one or more program steps of a pre-planned soil cultivation program. The first soil cultivation device 1 moves around the apartment based on the environmental map 12 stored in the soil cultivation device 1 or the server unit 10. The control and evaluation unit 5 of the soil cultivation device 1 continuously calculates the soil cultivation device 1's own position within the environmental map 12 and, if necessary, updates the environmental map 12 when deviations from currently measured distance values ​​are detected.During soil cultivation, the electrical components (not shown) of the first soil cultivation implement 1 draw energy from the battery 3, gradually discharging it. The surrounding soil surface is detected by the detection device 13 (i.e., the camera) as the first soil cultivation implement 1 moves. The camera captures images of the soil surface and uses image recognition and a before / after comparison to identify soiling. The control and evaluation unit 5 of the first soil cultivation implement 1 uses the image data from the detection device 13 to determine the degree of soiling of the first areas 7 traversed by the first soil cultivation implement 1, which form part of the total area 6. The detected degree of soiling is the degree of soiling of the first areas 7 of the soil surface before cleaning by the first soil cultivation implement 1.

[0026] Soil cultivation by the first soil cultivation implement 1 may be incomplete, for example, because the battery 3 of the first soil cultivation implement 1 does not have sufficient charging capacity to complete the soil cultivation activity, or because the first soil cultivation implement 1 is not suitable for traversing certain areas 8 of the total area 6, such as the second area 8, which, due to a step, can only be reached by soil cultivation implements 2 with greater ground clearance. Numerous other situations are conceivable in which a second soil cultivation implement 2 is also required to clean the second area 8.For example, a second soil cultivation implement 2 may also be required, a soil cultivation implement operated by a user, because a sensitive object and / or several closely spaced objects are located in the second area 8.

[0027] The first areas 7, already cleaned by the first tillage implement 1, are entered into the environmental map 12 by the control and evaluation unit 5, and a message is transmitted to the server unit 10 indicating that the second areas 8 could not be cleaned by the first tillage implement 1. This message can be transmitted from the first tillage implement 1 to the server unit 10, for example, in the form of the environmental map 12, which shows both the cleaned first areas 7 and the uncleaned second areas 8. The environmental map 12 also contains the degree of contamination of the first areas 7, previously detected using the images from the detection unit 13.Based on the environmental map 12, the data processing unit 9 of the server unit 10 identifies a soil cultivation device 2 of the system that is suitable to continue, i.e., successfully complete, the soil cultivation activity of the first soil cultivation device 1. Here, the data processing unit 9 recognizes, for example, based on device parameters stored in a database, that the second soil cultivation device 2 is suitable for performing the soil cultivation activity. Subsequently, the data processing unit 9 determines, based on the information contained in the environmental map 12, the amount of energy required by the second soil cultivation device 2 to complete the soil cultivation activity. The data processing unit 9 assumes that the degree of soiling determined for the already cleaned first area 7 also applies to the uncleaned second area 8.Furthermore, the data processing unit 9 has information about the size of the remaining uncleaned areas 8 via the environmental map 12. In addition, the aforementioned database contains, besides the equipment parameters of the tillage equipment 1, 2, information about typical energy consumption of the tillage equipment 2 for tilling areas with specific levels of contamination. Based on these parameters, the data processing unit 9 can determine the expected energy consumption of the second tillage equipment 2, possibly extrapolated to an estimated time required to complete the tillage operation successfully.The environmental map 12 can further contain information about the soil type of the first area section 7 and, if applicable, the second area sections 8, whereby at least the soil type of the already cleaned first area section 7 can be determined by the detection device 13 of the soil cultivation device 1 itself. The amount of energy required for cleaning the second area sections 8 depends heavily on the type of floor covering, namely whether the area sections 8 are, for example, a hard floor or carpet. When determining the required amount of energy, it is assumed, for example, that the soil type in the second area sections 8 corresponds to the soil type of the first area section 7. The typical amount of energy required per unit area for a specific soil type can, for example, have been determined beforehand by laboratory tests and stored in a file on the server 10.

[0028] After the data processing unit 9 has calculated the required amount of energy for the second tillage implement 2, it compares the calculated required amount of energy with the amount of energy present in the battery 3 of the second tillage implement 2. The information about the amount of energy still stored in the battery 3 can be transmitted to the data processing unit 9, for example, from the second tillage implement 2 or from the battery 3 itself.If the data processing unit 9 determines that the stored energy is less than the required energy, it directs the second tillage implement 2 to the charging unit 4 – provided the second tillage implement 2 is not already connected to the charging unit 4 – and transmits a control command to the charging unit 4. This command instructs the second tillage implement 2 to recharge its accumulator 3 by a difference in energy that, according to previous calculations, is sufficient for the second tillage implement 2 to successfully and completely perform its tillage operation. This difference in energy corresponds to the difference between the required energy and the energy still stored in the accumulator 3 of the second tillage implement 2.Of course, it is also possible that accumulator 3 is charged with an even larger amount of energy; however, in order to quickly complete the soil cultivation activity, it is recommended to charge only the absolutely necessary difference in energy.

[0029] After the charging process by the charging device 4 is completed, the data processing device 9 controls the second soil cultivation device 2 in such a way that the soil cultivation activity of the first soil cultivation device 1 is completed. For this purpose, the second soil cultivation device 2 specifically moves to the second area sections 8 that have not yet been cleaned and carries out soil cultivation there.

[0030] Subsequently, to train a self-learning system, the actual amount of energy required by the second tillage implement 2 can be determined. For this purpose, the measuring device 14 of the second tillage implement 2 can, for example, determine the amount of energy drawn from the battery 3. Alternatively, it would also be possible for the charging device 4 to have a measuring device 14 that can determine the difference between the charge levels of the battery 3 before and after tillage. The amount of energy actually required by the second tillage implement 2 for the preceding tillage activity can then be stored in the database along with information about the cleaned second area areas 8 and other parameters, in particular the soil parameters and implement parameters.During subsequent soil cultivation operations, the stored data can be accessed, allowing for increasingly reliable estimations of the expected energy requirement. In particular, the amount of dirt removed by the second soil cultivation implement 2, or the degree of soiling of the second area section 8 detected by a corresponding detection device 13 of the second soil cultivation implement 2, can be detected. After soil cultivation is complete, the determined degree of soiling of the first area section 7 is compared with the determined degree of soiling of the second area section(s) 8. A mathematical relationship between the degrees of soiling of the area sections 7 and 8 can then be calculated, specifically determining whether the degree of soiling in the area sections 7 and 8 is the same or differs.The calculated relationship can then also be included later in a recalculation of the required energy quantity of a soil cultivation implement 1, 2. According to one interpretation, it is also possible to consider the degree of contamination only in the, in . Fig. The aim is to determine the boundary areas 15 shown in Figure 4, which lie between the first area portion 7 and the second area portion 8, but which could still be processed or detected by the first tillage implement 1. Since the boundary areas 15 are located in the immediate vicinity of the second area portions 8, the degree of contamination in the boundary areas 15 can be used to infer the degree of contamination of the second area portions 8 with a very high degree of probability.

[0031] The exemplary embodiment described above represents only one of many possible configurations. For example, soil cultivation using a first soil cultivation implement 1 can be controlled not only by a central server 10, but also manually by a user via an application installed on a mobile device. Furthermore, within the framework of a pre-planned soil cultivation program, the user can optionally specify when they plan to carry out supplementary soil cultivation, for example, using a hand-held soil cultivation implement, so that the potential charging time for a battery 3 and, depending on this, the start of a charging process can be planned in advance.A soil cultivation implement 1, 2 used for soil cultivation can continuously transmit all information, both measured and calculated, to the server unit 10 and / or the other soil cultivation implements 1, 2 and / or the charging unit 4 and / or the accumulators 3, so that the required accumulators 3 can be charged as quickly as possible. The calculation of the required energy quantity can be performed not only by means of the data processing unit 9 of the server unit 10, but alternatively also by means of a control and evaluation unit 5 of one of the soil cultivation implements 1, 2, on an external cloud server, in a user's mobile device that is integrated into the communication network 11, or similar.

[0032] In determining the required amount of energy, factors other than those described above can also be considered. These include, for example, ambient temperature, the temperature of battery 3, the power drawn from battery 3 per unit of time, the discharge time required to completely discharge battery 3, the battery's condition, its type, and similar factors. The parameters described above relate to those that influence the internal resistance of battery 3 or its electrical losses.

[0033] The system's data processing unit 9 can further determine which floor cleaning device 1, 2 is preferably used for a floor cleaning task. Based on a detected type of soiling and / or soil type, it can be determined which floor cleaning device 1, 2 is best suited to perform a floor cleaning task, or which accessories are required to perform the floor cleaning task optimally. Accessories could include, for example, a hard floor nozzle, a carpet brush, a wet cleaning attachment, a nozzle of a specific size, or similar items. For example, a floor cleaning task could initially be performed by a first floor cleaning device 1, which is a robotic vacuum cleaner.The robotic vacuum cleaner can then detect, during the execution of the floor cleaning activity, which areas 7, 8 should be cleaned additionally or instead by a wet cleaning robot, for example in the case of hard floors, whereupon an amount of energy required for a corresponding wet cleaning robot is calculated.

[0034] In addition to the batteries 3 of the first tillage implement 1 and the second tillage implement 2, the system can also include further batteries 3. For example, spare batteries 3 can be stored at a base station, already partially charged, and can be quickly recharged to a higher level using the system's charging unit 4 if additional energy is required. The required energy can be distributed across several batteries 3. If the tillage implements 1 and 2, or their batteries 3, have an energy level that necessitates a particularly high charge level for one battery, it is possible to discharge the batteries 3 when not in use to avoid unnecessarily reducing their lifespan.The forced discharge of a battery 3 can be achieved, for example, via a loss resistor provided in the battery 3 itself, in a soil cultivation implement 1, 2, or in the charging device 4. Furthermore, other batteries 3 can serve as buffers.

[0035] Furthermore, the degree of soiling of the surface areas 7, 8 of the total area 6, as determined by the floor cleaning equipment 1, 2, can be used to infer the general level of soiling in the apartment. This allows for an estimation of how frequently, for how long, and with what cleaning performance the cleaning of the total area 6 with the available floor cleaning equipment 1, 2 is recommended. This can be determined in advance within the framework of a floor cleaning program, whereby the floor cleaning program is stored, for example, in the central server facility 10 and includes several floor cleaning steps for one or more floor cleaning devices 1, 2. List of reference symbols 1 first soil cultivation implement 2 second soil cultivation implement 3 Accumulator 4 Charging device 5 Control and evaluation unit 6 Total area 7 first area share 8 second area share 9 Data processing equipment 10 Server setup 11 Communication network 12. Area map 13 Detection device 14 Measuring device 15 Border area

Claims

[1] System comprising a first soil cultivation implement (1), a second soil cultivation implement (2), an accumulator (3) for the second soil cultivation implement (2), a charging device (4) for charging the accumulator (3) and a control and evaluation device (5) which is configured to control the first soil cultivation implement (1) to perform a defined soil cultivation activity, to determine a first area (7) of a total area (6) to be cultivated and to determine a second area (8) to be cultivated from the total area (6) and the first area (7) already cultivated, characterized by, that the control and evaluation unit (5) is further equipped to initiate, in the event of premature termination of the soil cultivation activity of the first soil cultivation implement (1), the transmission of information about the second area (8) still to be cultivated, wherein a data processing unit (9) of the system is equipped to receive the information and to determine the amount of energy required to complete the soil cultivation activity by means of the second soil cultivation implement (2), to compare the required amount of energy with an amount of energy stored in the accumulator (3) of the second soil cultivation implement (2) and, in the case that the amount of energy stored is less than the required amount of energy, to initiate the charging of the accumulator (3) by means of the charging device (4) by at least the difference in energy. [2] System according to claim 1, characterized by, that the data processing equipment (9) is part of the first soil cultivation equipment (1) and / or the second soil cultivation equipment (2) and / or the loading equipment (4) and / or a separately designed server equipment (10). [3] System according to claim 1 or 2, characterized by a wireless communication network (11) which wirelessly connects the first soil cultivation device (1), the second soil cultivation device (2), the charging device (4) and / or the separate server device (10). [4] System according to any one of the preceding claims, characterized by , that the first soil cultivation device (1) and / or a separately trained server facility (10) of the system has an environment map (12) in which the cultivated first area portion (7) and the second area portion (8) yet to be cultivated are stored. [5] System according to any one of the preceding claims, characterized by, that the first tillage implement (1) has a detection device (13) for detecting a degree of soiling of the first area portion (7) and / or the second area portion (8) and / or for detecting an amount of dirt picked up by the first tillage implement (1) during the tillage of the first area portion (7). [6] System according to any one of the preceding claims, characterized by , that the first soil cultivation implement (1) has a detection device (13) for detecting a soil type of the first area portion (7) and / or the second area portion (8). [7] System according to claim 5 or 6, characterized by, that the data processing device (9) is set up to determine the energy requirement of the second soil cultivation device (2) to complete the soil cultivation activity on the basis of the size of the first area share (7) and / or the detected degree of contamination and / or the detected amount of dirt taken up by the first area share (7), and, if applicable, additionally a detected soil type of the first area share (7) and / or the second area share (8). [8] System according to any one of claims 5 to 7, characterized by, that the second tillage implement (2) has a detection device (13) for detecting a degree of contamination of the second area portion (8) yet to be tilled and / or an amount of dirt absorbed during the tillage of the second area portion (8), wherein the data processing device (9) is configured to determine a quantitative ratio between the degree of contamination and / or the amount of dirt absorbed of the first area portion (7) and the degree of contamination and / or the amount of dirt absorbed of the second area portion (8), and to take the determined ratio into account in future calculations of the energy requirement of the second tillage implement (2). [9] System according to any one of the preceding claims, characterized by, that the second tillage implement (2) and / or the charging device (4) has a measuring device (14) for determining the amount of energy taken from the accumulator (3) of the second tillage implement (2) for the cultivation of the second area portion (8), wherein the data processing device (9) is set up to take the amount of energy taken into account in future calculations of the energy requirement of the second tillage implement to (2). [10] A method for operating a system designed according to one of the preceding claims, wherein a control and evaluation unit (5) controls a first soil cultivation implement (1) to perform a defined soil cultivation activity, determines a first area fraction (7) of a total area (6) to be cultivated by the first soil cultivation implement (1) during the soil cultivation activity, and determines a second area fraction (8) to be cultivated from the total area (6) and the already cultivated first area fraction (7), wherein the control and evaluation unit (5) causes information about the second area fraction (8) to be cultivated to be sent out in the event of premature termination of the soil cultivation activity of the first soil cultivation implement (1).wherein a data processing unit (9) of the system receives the information and determines the amount of energy required to complete the soil cultivation activity using the second soil cultivation implement (2), compares the required amount of energy with an amount of energy stored in the accumulator (3) of the second soil cultivation implement (2) and, in the case that the stored amount of energy is less than the required amount of energy, initiates the charging of the accumulator (3) by means of a charging device (4) by at least the difference in energy.

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